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<pre><span class="sourceLineNo">001</span><a name="line.1"></a>
<span class="sourceLineNo">002</span>package edu.wpi.first.wpilibj.templates.subsystems;<a name="line.2"></a>
<span class="sourceLineNo">003</span><a name="line.3"></a>
<span class="sourceLineNo">004</span>import edu.wpi.first.wpilibj.Jaguar;<a name="line.4"></a>
<span class="sourceLineNo">005</span>import edu.wpi.first.wpilibj.Joystick;<a name="line.5"></a>
<span class="sourceLineNo">006</span>import edu.wpi.first.wpilibj.RobotDrive;<a name="line.6"></a>
<span class="sourceLineNo">007</span>import edu.wpi.first.wpilibj.command.Subsystem;<a name="line.7"></a>
<span class="sourceLineNo">008</span>import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;<a name="line.8"></a>
<span class="sourceLineNo">009</span>import edu.wpi.first.wpilibj.templates.RobotMap;<a name="line.9"></a>
<span class="sourceLineNo">010</span><a name="line.10"></a>
<span class="sourceLineNo">011</span>/**<a name="line.11"></a>
<span class="sourceLineNo">012</span> *<a name="line.12"></a>
<span class="sourceLineNo">013</span> */<a name="line.13"></a>
<span class="sourceLineNo">014</span>public class Driver extends Subsystem {<a name="line.14"></a>
<span class="sourceLineNo">015</span>    // Put methods for controlling this subsystem<a name="line.15"></a>
<span class="sourceLineNo">016</span>    // here. Call these from Commands.<a name="line.16"></a>
<span class="sourceLineNo">017</span>    public Jaguar frontLeft;<a name="line.17"></a>
<span class="sourceLineNo">018</span>    public Jaguar frontRight;<a name="line.18"></a>
<span class="sourceLineNo">019</span>    public Jaguar backLeft;<a name="line.19"></a>
<span class="sourceLineNo">020</span>    public Jaguar backRight;<a name="line.20"></a>
<span class="sourceLineNo">021</span>    <a name="line.21"></a>
<span class="sourceLineNo">022</span>    public RobotDrive driver;<a name="line.22"></a>
<span class="sourceLineNo">023</span>    <a name="line.23"></a>
<span class="sourceLineNo">024</span>    public Driver()<a name="line.24"></a>
<span class="sourceLineNo">025</span>    {<a name="line.25"></a>
<span class="sourceLineNo">026</span>        frontLeft = RobotMap.frontLeft;<a name="line.26"></a>
<span class="sourceLineNo">027</span>        frontRight = RobotMap.frontRight;<a name="line.27"></a>
<span class="sourceLineNo">028</span>        backLeft = RobotMap.backLeft;<a name="line.28"></a>
<span class="sourceLineNo">029</span>        backRight = RobotMap.backRight;<a name="line.29"></a>
<span class="sourceLineNo">030</span>        <a name="line.30"></a>
<span class="sourceLineNo">031</span>        driver = new RobotDrive(frontLeft, backLeft, frontRight, backRight);<a name="line.31"></a>
<span class="sourceLineNo">032</span>    }<a name="line.32"></a>
<span class="sourceLineNo">033</span>     <a name="line.33"></a>
<span class="sourceLineNo">034</span>    public void arcadeDrive(Joystick stick)<a name="line.34"></a>
<span class="sourceLineNo">035</span>    {<a name="line.35"></a>
<span class="sourceLineNo">036</span>        //driver.arcadeDrive(stick);<a name="line.36"></a>
<span class="sourceLineNo">037</span>        driver.arcadeDrive(-stick.getY()*SmartDashboard.getNumber("drive move speed: "), -stick.getX()*SmartDashboard.getNumber("drive move speed: "));<a name="line.37"></a>
<span class="sourceLineNo">038</span>    }<a name="line.38"></a>
<span class="sourceLineNo">039</span>    <a name="line.39"></a>
<span class="sourceLineNo">040</span>    public void moveForward()<a name="line.40"></a>
<span class="sourceLineNo">041</span>    {<a name="line.41"></a>
<span class="sourceLineNo">042</span>        frontLeft.set(-0.5*SmartDashboard.getNumber("drive move speed: "));<a name="line.42"></a>
<span class="sourceLineNo">043</span>        frontRight.set(-0.5*SmartDashboard.getNumber("drive move speed: "));<a name="line.43"></a>
<span class="sourceLineNo">044</span>        backLeft.set(-0.5*SmartDashboard.getNumber("drive move speed: "));<a name="line.44"></a>
<span class="sourceLineNo">045</span>        backRight.set(-0.5*SmartDashboard.getNumber("drive move speed: "));<a name="line.45"></a>
<span class="sourceLineNo">046</span>    }<a name="line.46"></a>
<span class="sourceLineNo">047</span>    <a name="line.47"></a>
<span class="sourceLineNo">048</span>    public void stop()<a name="line.48"></a>
<span class="sourceLineNo">049</span>    {<a name="line.49"></a>
<span class="sourceLineNo">050</span>        frontLeft.set(0);<a name="line.50"></a>
<span class="sourceLineNo">051</span>        frontRight.set(0);<a name="line.51"></a>
<span class="sourceLineNo">052</span>        backLeft.set(0);<a name="line.52"></a>
<span class="sourceLineNo">053</span>        backRight.set(0);<a name="line.53"></a>
<span class="sourceLineNo">054</span>    }<a name="line.54"></a>
<span class="sourceLineNo">055</span>    <a name="line.55"></a>
<span class="sourceLineNo">056</span>    public void initDefaultCommand() {<a name="line.56"></a>
<span class="sourceLineNo">057</span>        // Set the default command for a subsystem here.<a name="line.57"></a>
<span class="sourceLineNo">058</span>        //setDefaultCommand(new MySpecialCommand());<a name="line.58"></a>
<span class="sourceLineNo">059</span>        <a name="line.59"></a>
<span class="sourceLineNo">060</span>    }<a name="line.60"></a>
<span class="sourceLineNo">061</span>   <a name="line.61"></a>
<span class="sourceLineNo">062</span>}<a name="line.62"></a>
<span class="sourceLineNo">063</span><a name="line.63"></a>




























































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